成山角水域动态自适应自主航行决策方法

Dynamic adaptive method of autonomous navigation decision-making in the Chengshanjiao waters

为研究成山角分道通航制水域船舶自主航行方法,本文数字化了该水域交通环境,探究了碰撞危险度量化模型和动态避碰机理。建立了耦合船舶航向控制方法、非线性操纵运动模型和航线跟踪方法的自动航行模型。基于时序滚动提出了能适应目标船机动和自校正误差的自主航行决策方法,该方法考虑了避碰规则和良好船艺的要求。实验结果表明:本船可让清所有目标船并按计划航线航行;预设场景中,本船在31 s、3762 s右转14°、5°可安全通过。本文提出的方法可为分道通航制水域的自主航行提供理论基础。

In order to study the autonomous navigation method of ships in Chengshanjiao traffic separation scheme waters,the traffic environment of the waters was digitized,the quantitative model of collision risk and dynamic collision avoidance mechanism were explored.An automatic navigation model coupled with course control method,nonlinear maneuvering motion model and route tracking method is established.Finally the autonomous navigation decision-making method that can adapt to random maneuvering of target ship and selfcorrecting system residual was proposed based on time sequence rolling.The method takes into account the requirements of convention on the international regulations for preventing collisions at sea(COLREGs)and good seamanship.The experimental results show that it can ensured to keep clear of all target ships and sail along the planned route.In the preset scenario,the ship can pass safely by turning starboard 14°and 5°at 31 s and 3762 s.A method can provide a theoretical basis for autonomous navigation in traffic separation scheme waters is proposed.